#ifndef ROBOT_STRUCT_DEFINE
#define ROBOT_STRUCT_DEFINE

#define KIN_PI					       (3.141592653589793238462643383279)

typedef struct  
{
	double P1;
	double P2;
	double P3;
	double P4;
	double P5;
	double P6;
	double P7;
}D_H;

typedef struct  
{
	double r[4][4];
}Matrix44;

typedef struct  
{
	double r[3][3];
}Matrix33;

typedef struct  
{
	double j[6];
}RobotJoint;

typedef struct  
{
	double v[6];
}RobotVector_;

typedef struct  
{
	double r11,r12,r13,r14,r21,r22,r23,r24,r31,r32,r33,r34,r41,r42,r43,r44;
}Matrix;

#endif
